Milk sampling apparatus and method

ABSTRACT

A milk sampling apparatus for use with a processor controlled milking system. The apparatus may include a cassette wherein milk sample collecting elements are placed, and at least one filling member capable of being placed above a selected one of the milk sample collecting elements by a positioning system, and capable of bringing a milk sample, representatively taken from milk yielded during the milking of an animal by the processor controlled milking system, into the selected one of the milk sample collecting elements. The apparatus may further include a micro processor arranged for two-way communication with the processor controlled milking system. The micro processor may be capable of receiving an indication of the selected one of the milk sample collecting elements from the processor controlled milking system and of controlling the positioning system to move the filling member such that the processor controlled milking system is positioned above the selected one of the milk sample collecting elements dependent on receiving such a signal.

TECHNICAL FIELD OF THE INVENTION

The present invention generally relates to dairy farm machine milkingand to milk sampling related thereto.

Particularly, the invention relates to a milk sampling apparatus for usewith an automated milking system and to a method for sampling of milkfrom said automated milking system.

DESCRIPTION OF RELATED ART AND BACKGROUND OF THE INVENTION

When milking an animal by using an automated milking system, the milk isdrawn from the teats of the animal by means of teat cups connected tovacuum. The milk is drawn through a milk tube and into a flow meterwherein the amount of milk is measured. The milk is further transportedto a storing tank or similar wherein it is stored together with milkfrom other animals while waiting for a milk lorry to collect it.

On regular time basis, e.g. once a month, a sample of the milk from eachanimal is taken, which sample is typically sent to a laboratory foranalysis, in which various parameters such as contents of fat, protein,cell, and urea are examined. It is expensive to implement the analysisat the milk sampling device and further, the laboratory equipmentnecessary is space demanding, thus samples are typically taken and sentto a laboratory. Possibly, some kind of simpler measurements could beintroduced at the milk sampling device.

The milk sampling is typically performed in connection with milking ofthe animals by employing a milk sampling device provided with a fixed orremovable cassette wherein milk test tubes can be placed, and with afilling member connected to the milking system and capable of fillingthe respective tubes with milk from the respective animals. When all thetubes are filled they are removed from the milk sampling device, eithermanually one by one, or by means of removing the complete cassette, andsent to the laboratory.

The laboratory equipment is adapted to the cassettes and test tubes thatare used by the farmers served by that laboratory. Further, laboratoryequipment, cassettes and test tubes, vary quite much from country tocountry.

Further, the sample tubes are typically prepared with a preservativeprior to milk sampling, which preservative shall restrain the milk fromturning to sour before the samples have been delivered to the laboratoryand been analyzed. This preservative is to be dissolved in the milk,which typically takes a period of time, during which the increase ofbacteria in the milk speeds up, whereby the risk that the milk turns tosour increases.

One prior art milk sampling device is disclosed in EP 0 564 023 A1(LELY/MAASLAND). This device is provided with a cassette formed as arotating box in which, along its circumference, milk sample collectingelements can be arranged. The filling member is disposed in a fixedposition, while the collecting elements can be placed successively underthe filling member. The filling member is further provided with avertically movable type of injection needle to be inserted into thecollecting elements. In this construction, the cassette and theinjection needle have to be moved synchronously, which requires specificmeasures to be taken.

Besides, in case of a relatively large number of collecting elements,the space in the box is insufficiently utilized. Therefore, the cassetteoccupies relatively much space, which in view of the extensive equipmentpresent in milking systems of today, is experienced as a drawback.

Another prior art milk sampling device is depicted in EP 0 749 681 A1(LELY/MAASLAND). This device is provided with a removable cassette inwhich milk sample collecting elements can be placed, and at least onefilling member capable of being placed successively above variouscollecting elements and bringing milk samples, taken from milk providedby an automatic milking machine, to the respective collecting elements.Guide means is provided for supporting the filling member such that thefilling member is moved, by successively increasing and decreasing thedistance between the guide means and the cassette, from a position abovea collecting element to an adjacent position above a nearby situatedcollecting element. In such manner the filling member may step fromcollecting element to collecting element along a predetermined fixedzigzag formed closed path.

This device has a simple design, but the movement of the filling memberis not flexible since it is determined by said fixed path. This may be amajor drawback if a single collecting element is to be used forcollecting a second non-consecutive sample, e.g. for sampling a cow asecond time a number of hours later, as the guide means may have to stepthrough a relatively long path before reaching the collecting element inquestion.

A further drawback of both these prior art milk sampling devices is thatthey are designed to fit only one cassette size. As there existdifferent standards of cassettes and sample collecting elements indifferent countries a device has to be manufactured in various designsif it is to be put on several markets.

Further, there is a certain risk of mixing samples at the milking farm,during transport, or at the laboratory since the individual samplecollecting elements are only identified through their respectivepositions in the cassette.

If the individual sample collecting elements are removed from thecassette of the milk sampling device and placed in other cassette or boxfor being dispatched to the laboratory, this risk of mixing samples isconsiderably increased as well as such an approach is time consuming,labor intensive and thus costly.

Further, the above-mentioned documents neither address the apparentproblem that the milk samples may turn to sour before reaching thelaboratory nor discuss the dissolving of a preservative in the milksamples.

SUMMARY OF THE INVENTION

Accordingly, it is an object of the present invention to provide a milksampling apparatus and method, which avoid at least some of the problemsassociated with prior art devices.

It is in this respect a particular object of the invention to providesuch milk sampling apparatus and method, which are flexible and whichfilling member has a variable movement capability.

It is still a further object of the invention to provide a milk samplingapparatus and method, in which cassettes of various designs and sizescan be placed.

It is yet a further object of the invention to provide a milk samplingapparatus and method, which are capable of being adapted forcommunication with an automated milking system.

It is still a further object of the invention to provide a milk samplingapparatus and method, which are adapted to be controllable by anautomated milking system.

It is yet a further object of the invention to provide a milk samplingapparatus and method, which are capable of error notification andalarming.

It is still a further object of the invention to provide a milk samplingapparatus and method, which are effective, fast, accurate, reliable,safe, easy to use, and of low cost.

These objects among others are, according to the present invention,attained by a milk sampling apparatus and method, which is provided witha processing capability such that an “intelligent” communication betweena processing means of the milk sampling apparatus and a processorcontrolled milking system is enabled. By means of e.g. a two-waycommunication interface between the milk sampling apparatus and theprocessor controlled milking system and suitable software, theprocessing means is arranged for two-way communication with saidprocessor controlled milking system

The milk sampling apparatus comprises further a cassette wherein milksample collecting elements are placed, and a filling member capable ofbeing placed above the milk sample collecting elements by means of aflexible positioning system, and capable of bringing milk samples,representatively taken from milk yielded during the milking of animalsby means of the processor controlled milking system, into the milksample collecting elements.

The two-way communication may typically include various kinds of controlcommands and interrogation and information messages, transferred fromthe processor controlled milking system to the milk sample apparatus,whereas communication in the opposite direction may include variouskinds of information and alarm messages.

Preferably, the processing means of the milk sampling apparatus iscapable of receiving an indication of a selected milk sample collectingelement from said processor controlled milking system and of controllingthe positioning system to move the filling member such that it ispositioned above the selected milk sample collecting element independence on receiving such a signal.

Further, the processing means of the milk sampling apparatus istypically arranged to control the bringing of a milk sample into theselected milk sample collecting element.

Further features and embodiments of the present invention are found inthe appended claims.

A major advantage of the invention is that it provides for a veryflexible use, particularly as regards the movement of the fillingmember. Indeed, the filling member may be directly moved to any desiredposition (in terms of position coordinates) above the cassette, thus notunduly restricting the movement of the filling member to predeterminedpositions along a predetermined path.

A further advantage of the invention is the usability with a large rangeof cassette and sample collecting element designs and sizes.

Further characteristics of the invention and advantages thereof will beevident from the following detailed description of embodiments of theinvention.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will become more fully understood from thedetailed description of embodiments of the present invention givenhereinbelow and the accompanying FIGS. 1–4, which are given by way ofillustration only, and thus are not limitative of the present invention.

FIG. 1 displays schematically an embodiment of a milk sampling apparatusaccording to the present invention.

FIGS. 2 a–d illustrate four different embodiments of an XY-positioningsystem as being included in the milk sampling apparatus of FIG. 1.

FIG. 3 is a schematic block diagram of an embodiment of the milksampling apparatus according to the present invention connected to anautomated milking system, the sampling apparatus being adapted fortwo-way communication with the milking system.

FIG. 4 illustrate an embodiment of a shaking table as being included inthe milk sampling apparatus of FIG. 1.

DETAILED DESCRIPTION OF EMBODIMENTS

In the following description, for purposes of explanation and notlimitation, specific details are set forth, such as particulartechniques and applications in order to provide a thorough understandingof the present invention. However, it will be apparent to one skilled inthe art that the present invention may be practiced in other embodimentsthat depart from these specific details. In other instances, detaileddescriptions of well-known methods and apparatuses are omitted so as notto obscure the description of the present invention with unnecessarydetails.

Referring to FIG. 1 an embodiment of a milk sampling apparatus 1according to the present invention comprises a stainless steel chassis 3at which a shaking or vibrating table 5 is mounted. At table 5 one, orpreferably two, cassettes 7 are removably mounted, in which cassettemilk sample collecting elements or tubes 9 are placed. Tubes 9 arearranged vertically with their openings pointing upwards.

A rubber sheet or insert 11 may be provided at the upper surface oftable 5 having a punched through opening, wherein cassette(s) 7 can bearranged. The opening is made such that a close fit between cassette 7and rubber sheet 11 is obtained. Sheet 11 is preferably about 25 mmthick and may be of any other suitable material such as e.g. steel. Theprovision of rubber sheet 11 allows for possibilities to tailor-make thesampling apparatus to fit with a particular cassette or a particularpractice or standard.

The lateral dimensions of chassis 3, shaking table 5 and rubber sheet 11are preferably such that there is room for two conventional Germansample cassettes, which are the largest cassettes the present inventorshave found on the market. In such a cassette there is room for 70 sampletubes and 140 sample tubes will probably be sufficient in order tohandle 50 milking animals during a period of 24 hours if each animalyields one sample per milking. If a single sample tube may be used morethan one time for a given animal that presents for milking during the 24hours interval, the milk sample device can handle even more animals or,alternatively, the number of sample tubes may be reduced.

Further, the milk sampling apparatus comprises a collection vessel 13,which can be arranged in fluid connection with a milk passage, e.g.vessel or conduit, of an automated milking station to which the milksampling apparatus is connectable via adjustment of a valve (not shownin FIG. 1).

Preferably, collection vessel 13 is by means of a vacuum supplied hoseconnected to a likewise vacuum supplied flow meter of the automatedmilking system, through which flow meter all milk as drawn from amilking animal is passed. A representative milk amount, typically about2% (corresponding to about half a liter) of the total milk amount from amilking, is by way of gravity flowed into collection vessel 13 when asample is to be taken. The hose has in a preferred embodiment an innerdiameter of 10 mm and a thickness of material of about 3 mm.

Collection vessel 13 is also connected to a source of compressed air viaa pressure regulator (not shown in FIG. 1) for the supply of air.

Further, two different discharge outlets are arranged at differentheights of collection vessel 13, of which the upper outlet 15 isconnected to a discharge line (not shown in FIG. 1) and the lower outlet17, being located at bottom of vessel 13, is via a conduit connected toa hose (not shown in FIG. 1) arranged in a spring biased reel 23.

The milk sampling apparatus of FIG. 1 comprises further a servo-operatedXY-positioning system or table 25 arranged parallel with and abovecassette(s) 7. XY-positioning system 25 is a device adapted for flexiblepositioning of a filling member 27 above a selected one of the Pluralityof sample tubes in cassette(s) 7. XY-positioning system 25 comprises twoservo systems 29, 31, of which a first moves an arm 34 in thex-direction such that the position of the arm is proportional to a firstprovided signal value (e.g. a voltage) or a first provided number ofpulses. The filling member, being connected to the hose of hose reel 23,is mounted on a runner 32 that is movable along the arm in they-direction such that the position of runner 32 and filling member 27 isproportional to a second provided signal value (e.g. voltage) or asecond provided number of pulses. The operation is thus similar to aconventional XY recorder.

A processing means 33 is provided for two-way communication with theautomated milking system, which will be further depicted below withreference to FIG. 3. Processing means 33 controls the position of thefilling member as well as all valves included in the apparatus.

All valves are preferably of hose clamping kind such that no pockets orspaces, where dirt and bacteria may settle, exists. The hose clamps arepreferably electromechanical, wherein the hose is pinched by means of aspring and opened by means of an electromagnet. Pneumatic valves mayalternatively be used.

The milk sampling apparatus may preferably be provided with wheels 35and a handle 37, such that the apparatus may easily be transported bythe farmer. The apparatus comprises also a cover 39 to protect fromdirt, the cover being preferably transparent such that the operation ofthe apparatus may be observed by the farmer. Furthermore, the apparatusis designed such that the distance between the cassette and the floor islarge and the handling of the sample tubes takes place from above. Insuch an instance the risk of contamination of the samples is minimizedand a good hygiene is safeguarded.

Next, with reference to FIGS. 2 a–d, four different designs of theXY-positioning system as being part of the milk sampling apparatus ofFIG. 1 will briefly be discussed.

A simple and low cost implementation of the transmission of force, asillustrated in FIG. 2 a, is the use of synchronous transmission or drivebelts 41. Using such transmission a reliable design, which require nomaintenance, is achieved. The precision is not excellent, but acceptablefor the present purpose. The force the transmission has to cope with, isonly the tension force from the hose reel and any occurring friction.

An alternative implementation, shown in FIG. 2 b, uses linear rails withrunners. The transmission of the runners is realized by means of gearracks 43 along rails 44, 45 and motors 29, 31 mounted on respectiverunners 46, 47, wherein rail 44 is firmly mounted on runner 47. Theperformance of this implementation would be similar to that of theimplementation of FIG. 2 a. One drawback using this implementation,however, is that more cords must be flexible and movable.

A further alternative, shown in FIG. 2 c, is implementing a rotatabletrapezoid threaded screw 49 and a runner or nut 50 for transmission,gearing, and load carrying in the X direction, said runner beingprevented from being rotated. The movement in the Y direction isrealized by a wire 51, which is journalled 53 at runner 50 and isattached to a further runner 54, which in turn is attached to a biasedslidable spring 55. In this alternative, the spring 55 and the end ofwire 51 attached to the spring may be considered to constitute arm 34 ofFIG. 1.

A still further alternative implementation, shown in FIG. 2 d, uses arespective rotatable screw 56 and a respective runner 57 fortransmission, gearing, and load carrying in the respective direction. Insuch instance weak step motors may be used.

It shall be appreciated that any combination of the above discussedtransmission implementations may be employed. The movements in the X andY directions have different prerequisites in terms of e.g. availablespace.

Next, with reference to FIG. 3, which is a schematic block diagram ofthe inventive milk sampling apparatus including a two-way communicationinterface to the automated milking system, said milk sampling apparatus,and particularly the function thereof, will be further described.

When a sample is to be taken an initiating signal from a processingmeans 59 of automated milking system 61 is via line 63 sent toprocessing means 33 of milk sampling apparatus 1 together with XYcoordinates for the sample tube to be used for the current sample.Processor 33 sends a control signal to open valve 65 and arepresentative fraction of milk from a milking is then by way of gravityflowed from automated milking system 61, through conduit 67, and intocollection vessel 13. At this point all other valves 69, 71, 73 areclosed. Meanwhile processor 33 sends control signals to servo systems29, 31 instructing them to move filling member 27 to the coordinates asreceived from automated milking system 61.

Further, when all milk has been flowed into vessel 13 compressed air issupplied to the vessel through line 75 by opening valve 69, which iscontrolled by processor 33. During the supply of compressed air valve 65is either opened or closed; in the latter instance the amount of airsupplied has to be controlled such that the pressure in collectionvessel 13 does not raise unduly much. Line 75 ends inside vessel 13close to the bottom thereof and by blowing air through the milk it isprevented from being bedded, which would not yield a representativesample.

Next, valve 71 is opened by processor 33 such that a major portion ofthe milk is evacuated through line 77. The milk left in vessel 13 isgiven by the cross sectional area of vessel 13 and the height at whichoutlet 15 is arranged. A typical volume is 8–16 ml. The evacuated milkmay be thrown away, recirculated to automated milking system 61, ortransported to e.g. a milk storage tank (not shown in FIG. 3).

Valve 71 is closed and valve 73 is opened. At this time the fillingmember is at place at the given coordinates, i.e. above the selectedsample tube. By means of the compressed air the milk sample is flowedout of outlet 17, through a conduit 19 and a hose 21, and out throughthe orifice of filling member 27, and finally collected in the selectedsample tube. The air is blown for a period of time such that it issafeguarded that the entire milk sample has been transferred to thesample tube. The vertical distance between the orifice of filling member27 and the upper end of the sample tube has to be small enough to securethat the entire milk sample will be collected in the correct tube.

When the sample has been collected, processor 33 sends a signal to amotor 79, which shakes shaking table 5 and thus the sample tubes, seefurther the description with reference to FIG. 4 below.

Finally microprocessor 33 sends a completion message to automatedmilking system via line 81.

It shall be appreciated that all valves and all motors are controlled bymeans of processor 33, which is indicated by control lines 83.

Further, processor 33 is preferably provided with a memory, suitablesoftware and a power supply (not shown in FIG. 3). Also, the motors andvalves are power supplied in any suitable manner. Preferably, the milksampling apparatus is provided with a battery for the supplying ofpower, and thus no electrical connections have to be made at theinstallation of the apparatus.

The flexible function of the milk sampling apparatus implies that thefilling of the sample tubes may be performed in any order. The fillingmember may be directly moved to any desired position (in terms ofposition coordinates) above the cassette. Hence, no undue restriction ofthe movement of the filling member to predetermined positions along apredetermined path is imposed.

Further, if a single sample tube is to be used also for collecting asecond non-consecutive sample, e.g. for sampling a cow a second timesome hours later, it is readily done simply by instructing the servosystems of the XY-positioning system to move the filling member to thecoordinates in question.

Cleaning of all parts of the milk sampling apparatus 1 that come intocontact with milk may easily be performed by using the conventionalcleaning of the automated milking system.

By providing a drain outlet below any suitable XY coordinate positionand by moving the filling member 27 to this position cleaning is simplyperformed by opening valves 65 and 73 (and possibly by opening a valve(not shown) at the automated milking station side of conduit 67) andletting the cleaning fluid pass through line 67, vessel 13, lines 19, 21and filling member 27 and be discharged through said drain outlet. Valve73 may be repeatedly closed and opened during the cleaning process suchthat vessel 13 becomes repeatedly entirely filled with cleaning fluid toenhance cleaning of vessel 13. Valve 69 may be opened such thatcompressed air is mixed with the cleaning fluid and if it is desirableto also clean line 77, valve 71 is opened.

If a more frequent cleaning is desired, e.g. subsequent to each samplebeing taken out, cleaning fluid may be supplied through line 77 by meansof connecting it to a pump and a cleaning fluid supply (not shown inFIG. 3). In order to minimize the distance that the filling member hasto transverse in order to reach a drain outlet, drain outlet channelscan be arranged along one or more sides of the milk sampling apparatus.If such channels are arranged along all sides filling member 27 hasnever to be moved more than half the width of the milk samplingapparatus.

Two-way communication between the processor of the automated milkingmachine and the processor of the milk sampling apparatus according tothe present invention is realized through communication bus 63, 81.Connection of this bus and of milk conduit 67 are the only connectionsthat necessarily have to be performed at installation of the milksampling apparatus. However, also connection of conduit 75 to the sourceof compressed air is conveniently performed at installation as well asconnection of conduit 77 if the milk flowed through this conduit is tobe recovered.

Communication from the automated milking station to the milk sampleapparatus may preferably include various kinds of control commands andinterrogation and information messages, whereas communication in theopposite direction include various kinds of information and alarmmessages.

Communication from the automated milking station to the milk samplingapparatus may particularly include any of:

-   i. Initiation of milk sampling (XY coordinates for the selected    sample tube is included in the message).-   ii. Initiation of a cleaning cycle, which instructs processor 33 of    the milk sampling apparatus to take the steps as described above.-   iii. Instructions that automatic cleaning shall be performed after    each sample being taken.

Communication from the milk sampling apparatus to the automated milkingstation may particularly include any of:

-   i. Information of successful completion of milk sampling.-   ii. Electric error alarming message.-   iii. Loose cover alarming message.-   iv. Erroneously placed sample tube or missing sample tube alarming    message.

Various kinds of alarming functions can be arranged by providing themilk sampling apparatus with suitable sensors.

Finally, with reference to FIG. 4, which illustrates an embodiment ofshaking table 5 as being part of the milk sampling apparatus 1 of FIG.1, this aspect of the invention will be described closer.

The sample tubes are typically prepared with a preservative prior tomilk sampling, which preservative shall restrain the milk from turningto sour before the samples have been delivered to the laboratory andbeen analyzed. This preservative is to be dissolved in the milk. Suchdissolving typically takes a certain period of time, during which theincrease of bacteria in the milk speeds up, and thus the risk that themilk turns to sour increases.

The sample tubes are typically delivered to the farmer in a cleaned andpreservative prepared condition. The preservative may be2-bromo-2-nitropropane-1,3-diol, also widely commercially availableunder the trademark BRONOPOL, which is crystallized in the bottom of thetubes. The cassette with the prepared sample tubes are typically to beused during a 24 hours period of time, which implies that that the tubesare standing for such a period in the milk sampling apparatus in a milkfarm environment without any individual covers. It is under suchcircumstances desirable to safeguard a fast dissolving of thepreservative in the milk. The shaking table 5 of the milk samplingapparatus according to the present invention is thus used to acceleratethis dissolving by shaking sample tubes 9.

The shaking table in FIG. 4 is arranged on chassis 3 of FIG. 1 by meansof four elastic isolator feet 85, preferably made of rubber or plastic,of which only two are indicated in FIG. 4. Two cassettes 7 with sampletubes 9 are arranged on shaking table 5 as schematically illustrated inFIG. 4. The table 5 is being shaken by means of motor 79 rotating aneccentric disk 83. The shaking table 5 can be moved in two transversedirections (X and Y directions) and rotated around a third axis, the Zaxis, being perpendicular to X and Y dimensions.

The shaking operation may be affected by the mutual placement of variousparts of the milk sampling apparatus such as shaking table, motor,eccentric disk, cassette, sample tubes and elastic isolator feet.Furthermore, the weights and weight distributions of the eccentric diskand of the shaking table may be altered. System constants such asrotation speed of the eccentric disk, spring constant and dampingconstant of the elastic isolator feet may also be altered. All theseparameters affect the shaking function and thus a number of actions maybe taken in order to properly design the shaking table to yield anappropriate agitation of the samples. Other shaking tables that may beused in the present invention are disclosed in U.S. Pat. Nos. 4,102,649and 5,259,672, which patents hereby are incorporated by reference.

If no agitation of the sample tubes is performed, the preservative haspartly or completely become dissolved after about an hour, but this mayin some applications be a too long period of time since the growth ofbacteria has started. By using the shaking table of the presentinvention the dissolving of preservative in milk is stronglyaccelerated. Preferably, shaking is performed subsequent to each takenmilk sample.

Other dissolving acceleration means may be used as a complement orinstead of the shaking table, such as ultrasonic devices or any othersuitable agitating means known in the art.

Further, it shall be appreciated that a representative small amount(e.g. 8–16 ml) of milk can be sampled directly from the automatedmilking system, see e.g. U.S. Pat. No. 5,303,598. In such version of thepresent invention collection vessel 13 of FIG. 1 may be dispensed withand a small portion of milk (typically in the order of 10⁻⁴ of the totalamount of milk) may be flowed from the automated milking system, througha hose and a filling member, and into a sample tube, preferably duringthe entire time of the milking of an animal in order to obtain arepresentative sample.

It will be obvious that the invention may be varied in a plurality ofways. Such variations are not to be regarded as a departure from thescope of the invention. All such modifications as would be obvious toone skilled in the art are intended to be included within the scope ofthe appended claims.

1. A milk sampling apparatus for use with a processor controlled milkingsystem, said apparatus comprising a cassette wherein milk samplecollecting elements are placed, and at least one filling member capableof being placed above a selected one of said milk sample collectingelements by a positioning system, and capable of bringing a milk sample,representatively taken from milk yielded during the milking of an animalby said processor controlled milking system, into said selected one ofsaid milk sample collecting elements, wherein said milk samplingapparatus further includes a microprocessor arranged in two-waycommunication with a microprocessor of said processor controlled milkingsystem.
 2. The milk sampling apparatus as claimed in claim 1, whereinthe microprocessor of said milk sampling apparatus is capable ofreceiving an indication of said selected one of said milk samplecollecting elements from said microprocessor of said processorcontrolled milking system and of controlling said positioning system tomove said filling member such that said filling member is positionedabove said selected one of said milk sample collecting elementsdepending on receiving such a signal.
 3. The milk sampling apparatus asclaimed in claim 2, wherein the microprocessor of said milk samplingapparatus is arranged to control the bringing of said milk sample,representatively taken from milk yielded during the milking of an animalby said processor controlled milking system, into said selected one ofsaid milk sample collecting elements.
 4. The milk sampling apparatus asclaimed in claim 2, wherein the microprocessor of said milk samplingapparatus is arranged to send a completion message to saidmicroprocessor of said processor controlled milking system subsequent tothe bringing of said milk sample into said selected one of said milksample collecting elements.
 5. The milk sampling apparatus as claimed inclaim 1, further comprising a sensor connected to said microprocessor ofsaid milk sampling apparatus, wherein said microprocessor of said milksampling apparatus is arranged for sending an alarm signal to theprocessor controlled milking system depending on the sensing of saidsensor.
 6. The milk sampling apparatus as claimed in claim 5, whereinsaid sensor is arranged to sense a missing or erroneously placed sampletube and an alarm signal is a sample tube error signal.
 7. The milksampling apparatus as claimed in claim 1, further comprising a milksampling apparatus cleaning unit controllable by said microprocessor ofsaid milk sampling apparatus, wherein said microprocessor of said milksampling apparatus is arranged to control said cleaning unit to cleansaid milk sampling apparatus depending on receiving a clean initiatingsignal from said microprocessor of said processor controlled milkingsystem.
 8. The milk sampling apparatus as claimed in claim 1, whereinsaid positioning system further comprises: an arm extending in a firstdirection in a plane above said milk sample collecting elements andbeing movable in a second direction in said plane, said first and seconddirections being orthogonal; a first runner for holding said fillingmember and being movable along said arm; and a first drive unit and asecond drive unit, said first drive unit being effective to move saidarm and said second drive unit being effective to move said first runnersuch that said filling member is positioned above said selected one ofsaid milk sample collecting elements.
 9. The milk sampling apparatus asclaimed in claim 8, wherein said first and second drive units comprise arespective servo-operated motor.
 10. The milk sampling apparatus asclaimed in claim 8, wherein said first and second drive units arecontrollable by said microprocessor of said milk sampling apparatus. 11.The milk sampling apparatus as claimed in claim 8, wherein said firstand second drive units are controllable depending on the supply of arespective electrical signal.
 12. The milk sampling apparatus as claimedin claim 11, wherein said first and second drive unit are controllabledepending on the supply of a respective number of electrical pulses. 13.The milk sampling apparatus as claimed in claim 1, further comprisingagitating device capable of agitating said milk sample.
 14. The milksampling apparatus as claimed in claim 13, wherein said agitating devicecomprises a shaking table at which said cassette is removably mounted.15. The milk sampling apparatus as claimed in claim 13, wherein saidagitating device is controllable by said microprocessor of said milksampling apparatus.
 16. The milk sampling apparatus as claimed in claim1, further comprising a plurality of valves controllable by saidmicroprocessor of said milk sampling apparatus.
 17. A method forsampling milk in a milk sampling apparatus, comprising a cassettewherein milk sample collecting elements are placed, and at least onefilling member movable above said milk sample collecting elements, andcapable of bringing a milk sample, representatively taken from milkyielded during a milking of an animal by a processor controlled milkingsystem, into said milk sample collecting elements, said methodcomprising the steps of: providing said milk sampling apparatus with amicroprocessor; and arranging said microprocessor in said milk samplingapparatus, in a two-way communication with a microprocessor of saidprocessor controlled milking system bringing at least one milk sampleinto at least one selected milk sample collecting element.
 18. Themethod as claimed in claim 17, comprising: moving said at least onefilling member such that said at least one filling member is placedabove the selected one of bringing said milk sample into said selectedone of said milk sample collecting elements, wherein the steps of movingand bringing are controlled by said microprocessor of said milk samplingapparatus, which receives a sample initiation signal from said processorcontrolled milking system.
 19. The method as claimed in claim 18,wherein said microprocessor of said milk sampling apparatus sends acompletion message to said microprocessor of said processor controlledmilking system subsequent to the bringing of said milk sample into saidselected one of said milk sample collecting elements.
 20. The method asclaimed in claim 17, further comprising measuring a parameter of saidmilk sampling apparatus, by said microprocessor of said milk samplingapparatus, and sending an alarm signal to the processor controlledmilking system depending on the measured parameter.
 21. The method asclaimed in claim 20, wherein the measured parameter is the occurrence ofa missing or erroneously placed sample tube and the alarm signal is asample tube error signal.
 22. The method as claimed in claim 17, furthercomprising automatically cleaning said milk sampling apparatus dependingon receiving a clean initiating signal from said microprocessor of saidprocessor controlled milking system, said cleaning being controllable bysaid microprocessor of said milk sampling apparatus.
 23. The method asclaimed in claim 17, further comprising agitating said milk sample. 24.The method as claimed in claim 23, wherein said agitating is performedby a shaking table at which said cassette is removably mounted.
 25. Themethod as claimed in claim 23, wherein said agitating is controllable bysaid microprocessor of said milk sampling apparatus.